/*********************************************************************
*
* Software License Agreement (BSD License)
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*  Author: Pedro Patron
*
*********************************************************************/

#include <osl_core/Chrono.h>

namespace osl_core
{

// ---------------------------------------------------------------------------
Chrono::Chrono()
{
	Reset();
}


// ---------------------------------------------------------------------------
Chrono::~Chrono()
{

}


// ---------------------------------------------------------------------------
void Chrono::Reset()
{
	init_time = ros::Time::now();
}


// ---------------------------------------------------------------------------
uint32_t Chrono::Read()
{
	uint32_t microSeconds;

	read_time = ros::Time::now();
	ros::Duration d = read_time - init_time;
	microSeconds = (d.toNSec() / 1000);

	return microSeconds;
}


// ---------------------------------------------------------------------------
uint32_t Chrono::ReadMs()
{
	uint32_t milliSeconds;

	read_time = ros::Time::now();
	ros::Duration d = read_time - init_time;
	milliSeconds = (d.toNSec() / 1000000);

	return milliSeconds;
}


// ---------------------------------------------------------------------------
uint32_t Chrono::ReadAndReset()
{
	uint32_t microSeconds = Read();
	init_time = read_time;

	return microSeconds;
}


// ---------------------------------------------------------------------------
uint32_t Chrono::ReadMsAndReset()
{
	uint32_t milliSeconds = ReadMs();
	init_time = read_time;

	return milliSeconds;
}

} // namespace
